単位数: 2. 担当教員: 大脇 大. 開講年度: 2024. 科目ナンバリング: TMA-MEE331J. 開講言語: 日本語.
○
Google Classroomのクラスコードは工学部Webページにて確認すること。
学部シラバス・時間割(https://www.eng.tohoku.ac.jp/edu/syllabus-ug.html)
From "Preview" on MODERN ROBOTICS MECHANICS, PLANNING, AND CONTROL
Modern Robotics（教科書），Previewより
As an academic discipline, robotics is a relatively young field with highly ambitious goals, the ultimate one being the creation of machines that can behave and think like humans. This attempt to create intelligent machines naturally leads us first to examine ourselves – to ask, for example, why our bodies are designed the way they are, how our limbs are coordinated, and how we learn and perform complex tasks. The sense that the fundamental questions in robotics are ultimately questions about ourselves is part of what makes robotics such a fascinating and engaging endeavor.
Our focus in this book is on mechanics, planning, and control for robot mechanisms. Robot arms are one familiar example. So are wheeled vehicles, as are robot arms mounted on wheeled vehicles. Basically, a mechanism is constructed by connecting rigid bodies, called links, together by means of joints, so that relative motion between adjacent links becomes possible. Actuation of the joints, typically by electric motors, then causes the robot to move and exert forces in desired ways.
Specifically, Robotics I includes Configuration Space, Rigid-Body Motions, Forward Kinematics, Velocity Kinematics and Statics, Inverse Kinematics, Kinematics of Closed Chains, Dynamics of Open Chains (up to Chapter 8 in the text book).
具体的に，ロボティクスIでは，Configuration Space，Rigid-Body Motions，Forward Kinematics，Velocity Kinematics and Statics，Inverse Kinematics，Kinematics of Closed Chains，Dynamics of Open Chainsについて学ぶ（教科書Chapter 8まで）
2022年度より，教科書が変更になったことに注意してください！
The class code for Google Classroom can be found on the Web site of
the School of Engineering:
https://www.eng.tohoku.ac.jp/edu/syllabus-ug.html (JP Only)
From "Preview" on MODERN ROBOTICS MECHANICS, PLANNING, AND CONTROL
As an academic discipline, robotics is a relatively young field with highly ambitious goals, the ultimate one being the creation of machines that can behave and think like humans. This attempt to create intelligent machines naturally leads us first to examine ourselves – to ask, for example, why our bodies are designed the way they are, how our limbs are coordinated, and how we learn and perform complex tasks. The sense that the fundamental questions in robotics are ultimately questions about ourselves is part of what makes robotics such a fascinating and engaging endeavor.
Our focus in this book is on mechanics, planning, and control for robot mechanisms. Robot arms are one familiar example. So are wheeled vehicles, as are robot arms mounted on wheeled vehicles. Basically, a mechanism is constructed by connecting rigid bodies, called links, together by means of joints, so that relative motion between adjacent links becomes possible. Actuation of the joints, typically by electric motors, then causes the robot to move and exert forces in desired ways.
Specifically, Robotics I includes Configuration Space, Rigid-Body Motions, Forward Kinematics, Velocity Kinematics and Statics, Inverse Kinematics, Kinematics of Closed Chains, Dynamics of Open Chains (up to Chapter 8 in the text book)
線形代数学と制御工学Iの履修を前提に講義をするので履修しておくこと．
The lecture is given under the assumption that students are familiar with the Linear Algebra and the Control Engineering I.
本講義は、Google Classroomを用いて開講する。クラスコードは「edecucl」である。
1. Preview
2. Configuration Space
3. Configuration Space
4. Rigid-Body Motions
5. Rigid-Body Motions
6. Forward Kinematics
7. Forward Kinematics
8. Velocity Kinematics and Statics
9. Velocity Kinematics and Statics
10. Inverse Kinematics
11. Inverse Kinematics
12. Kinematics of Closed Chains
13. Kinematics of Closed Chains
14. Dynamics of Open Chains
15. Dynamics of Open Chains
This course information will be provided using Google Classroom. The class code is "edecucl".
本講義は、Google Classroomを用いて開講する。クラスコードは「edecucl」である。
1. Preview
2. Configuration Space
3. Configuration Space
4. Rigid-Body Motions
5. Rigid-Body Motions
6. Forward Kinematics
7. Forward Kinematics
8. Velocity Kinematics and Statics
9. Velocity Kinematics and Statics
10. Inverse Kinematics
11. Inverse Kinematics
12. Kinematics of Closed Chains
13. Kinematics of Closed Chains
14. Dynamics of Open Chains
15. Dynamics of Open Chains
予習：シラバスの項目について参考書の対応箇所を読み．理解できる部分と理解できない部分を，授業前に明確にしておく．
復習：参考書を読み直したり，講義ノートを整理したりすることで，講義の内容をよく理解する．レポート課題がある場合はそれに取り組む．
Preview: Read the items in the syllabus and the corresponding sections in the reference books. Clarify the parts that you can understand and the parts that you cannot understand before the class.
Review: Re-read the reference books and reorganize the lecture notes to better understand the lecture content. Work on the report assignment, if any.
試験により判定する．
Judging by the test.